# Model-Based AI planning and Execution Systems for Robotics

arXiv: https://arxiv.org/abs/2505.04493 · HTML: https://mlsanity.com/paper/2505.04493/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 62 references that are in the map.
- First posted on arXiv 7 May 2025.

## Builds on (most cited first, 11 of 11)

- [Leveraging Pre-trained Large Language Models to Construct and Utilize World Models for Model-based Task Planning](https://mlsanity.com/paper/2305.14909/) (2023)
- [LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworks](https://mlsanity.com/paper/2402.01817/) (2024)
- [Translating Natural Language to Planning Goals with Large-Language Models](https://mlsanity.com/paper/2302.05128/) (2023)
- [On the Prospects of Incorporating Large Language Models (LLMs) in Automated Planning and Scheduling (APS)](https://mlsanity.com/paper/2401.02500/) (2024)
- [Generating consistent PDDL domains with Large Language Models](https://mlsanity.com/paper/2404.07751/) (2024)
- [Towards Providing Explanations for AI Planner Decisions](https://mlsanity.com/paper/1810.06338/) (2018)
- [Can LLMs Fix Issues with Reasoning Models? Towards More Likely Models for AI Planning](https://mlsanity.com/paper/2311.13720/) (2023)
- [PlanSys2: A Planning System Framework for ROS2](https://mlsanity.com/paper/2107.00376/) (2021)
- [SkiROS2: A skill-based Robot Control Platform for ROS](https://mlsanity.com/paper/2306.17030/) (2023)
- [Productive Multitasking for Industrial Robots](https://mlsanity.com/paper/2108.11471/) (2021)
- [SkiNet, A Petri Net Generation Tool for the Verification of Skillset-based Autonomous Systems](https://mlsanity.com/paper/2209.14039/) (2022)

## Abstract (arXiv)

Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics. Yet, while diverse general-purpose reasoning architectures have been proposed since, general-purpose systems that are integrated with modern robotic platforms have emerged only recently, starting with the influential ROSPlan system. Since then, a growing number of model-based systems for robot task-level control have emerged. In this paper, we consider the diverse design choices and issues existing systems attempt to address, the different solutions proposed so far, and suggest avenues for future development.